diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-09-29 19:00:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 17:39:12 +0200 |
| commit | 1c57d7de434d09893416137f9c72dca2f225cbc7 (patch) | |
| tree | 1220475a819ff7e24ca3ecf9afad76f818253ff8 /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | 8193382ec245ff82ffb30e2d9038c253bc93a099 (diff) | |
| download | px4-firmware-1c57d7de434d09893416137f9c72dca2f225cbc7.tar.gz px4-firmware-1c57d7de434d09893416137f9c72dca2f225cbc7.tar.bz2 px4-firmware-1c57d7de434d09893416137f9c72dca2f225cbc7.zip | |
using jacobians in fw attitude control
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index eb67874db..c8a59356c 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -635,11 +635,11 @@ FixedwingAttitudeControl::task_main() } } - float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed, + float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed, _att.pitch, _att.yawspeed, airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed); _actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f; - float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling, + float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, _att.yawspeed, airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed); _actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f; |